;; Visitall domain
;; Created by Nir Lipovetzky 

; MIT License

; Copyright (c) 2011 Nir Lipovetzky

; Permission is hereby granted, free of charge, to any person obtaining a copy
; of this software and associated documentation files (the "Software"), to deal
; in the Software without restriction, including without limitation the rights
; to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
; copies of the Software, and to permit persons to whom the Software is
; furnished to do so, subject to the following conditions:

; The above copyright notice and this permission notice shall be included in all
; copies or substantial portions of the Software.

; THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
; IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
; FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
; AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
; LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
; OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
; SOFTWARE.

(define (domain grid-visit-all)
(:requirements :typing)
(:types        place - object)
(:predicates (connected ?x ?y - place)
	     (at-robot ?x - place)
	     (visited ?x - place)
)
	
(:action move
:parameters (?curpos ?nextpos - place)
:precondition (and (at-robot ?curpos) (connected ?curpos ?nextpos))
:effect (and (at-robot ?nextpos) (not (at-robot ?curpos)) (visited ?nextpos))
)

)
